Extending the SCANeRII Framework
Depending on how unusual your driving simulator will be, it may be required to add one or more application specific modules to the common components available in the SCANeR II. The CatsKernel-Framework allows adding new modules to the simulation. The modules can handle a number of different tasks, for example :
- running computational models (e.g. for driving dynamics)
- importing or exporting data (e.g. interfacing to a certain kind of hardware like a CAN-enabled device)
- or even handling trigger events allowing interactivity in MICE
The framework requires Microsoft Visual C++ and includes header files and libraries for Windows platform. To create a new module, the developer starts by deriving a new class from the Application class of the framework. The Application base class defines the sequential execution (aka State Management) of the module. Another base class 'InterfaceManager' is needed to be specialized to define the interface of the module to the rest of the simulation. The network communication classes are easy to use use thanks to the practical C++ API. The API comes with detailed Doxygen documentation as well as descriptive PDF programmer's guide manuals.
Road Query API
Well, the name says it all. The Road Query API queries the road surface database to get local surface properties (z elevation, normal vector, road surface adherence, type, noise and nature) for a given (x,y) position. According to OKTAL\s measurements on a Pentium IV 2GHz the average time per picking is 1.2 microseconds per wheel. 3rd party modules/applications can use the API quesy and get information on a SCANeR II terrain database.Interface to Cabin
In addition to the framework API, 'Dynamics Model Interface' handles the high frequenchy cabin-driving dynamics model communication. This usually includes cabin input devices such as steering wheel, pedals, gearbox. A number of predefined configurations files are available for the dynamics model ( incl. medium class cars to trucks and trailers) as well as gearbox configurations.